M’Closkey, Robert T. and Murray, Richard M. (1994) Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback. In: Proceedings of 1994 33rd IEEE Conference on Decision and Control. Vol.2. IEEE , Piscataway, NJ, pp. 1317-1322. https://resolver.caltech.edu/CaltechAUTHORS:20190318-130817404
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Abstract
This paper brings together results from a number of different areas in control theory to provide an algorithm for the synthesis of locally exponentially stabilizing control laws for a large class of driftless nonlinear control systems. The stability is defined with respect to a nonstandard dilation and is termed "δ-exponential" stability. The δ-exponential stabilization relies on the use of feedbacks which render the closed loop vector field homogeneous with respect to a dilation. These feedbacks are generated from a modification of Pomet's algorithm (1992) for smooth feedbacks. Converse Lyapunov theorems for time-periodic homogeneous vector fields guarantee that local exponential stability is maintained in the presence of higher order (with respect to the dilation) perturbing terms.
Item Type: | Book Section | ||||||
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Additional Information: | © 1994 IEEE. Supported in part by AFOSR F49620-92J-0293. Supported in part by a grant from the Powell Foundation. | ||||||
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Record Number: | CaltechAUTHORS:20190318-130817404 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190318-130817404 | ||||||
Official Citation: | R. T. M'Closkey and R. M. Murray, "Exponential stabilization of driftless nonlinear control systems via time-varying, homogeneous feedback," Proceedings of 1994 33rd IEEE Conference on Decision and Control, Lake Buena Vista, FL, USA, 1994, pp. 1317-1322 vol.2. doi: 10.1109/CDC.1994.411139 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 93927 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | Tony Diaz | ||||||
Deposited On: | 18 Mar 2019 20:24 | ||||||
Last Modified: | 03 Oct 2019 20:59 |
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